mavfwd is a utility for broadcasting a mavlink telemetry stream between wifibroadcast and uart devices, for organizing one- or two-way telemetry between UAV and ground station. mavfwd is included in the OpenIPC FPV firmware as a lighter alternative to mavlink routerd and is usually used on the air part (camera).
Also, mavfwd can monitor the mavlink RC _CHANNELS package starting from the 5th and on the specified channel, and call the script channels.sh (located at /usr/bin or /usr/sbin) passing the channel number and its value to it when changing as $1 and $2 parameters. An example of channels.sh is present.
Usage: mavfwd [OPTIONS]
Where:
--master Local MAVLink master port (/dev/ttyAMA0 by default)
--baudrate Serial port baudrate (115200 by default)
--out Remote output port (127.0.0.1:14600 by default)
--in Remote input port (127.0.0.1:14601 by default)
--channels RC override channels to parse after first 4 and call /root/channels.sh $ch $val, default 0
--verbose display each packet, default not
--help Display this help